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Ensure that even at slow speed, you will always get collision using kinematic motion. Fixes #16250

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This commit is contained in:
Juan Linietsky 2018-11-14 21:17:36 -03:00
parent 5f4485d4ff
commit 66c6dfb3fd
1 changed files with 65 additions and 60 deletions
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41
servers/physics_2d/space_2d_sw.cpp
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@ -365,6 +365,8 @@ struct _RestCallbackData2D {
const CollisionObject2DSW *object;
const CollisionObject2DSW *best_object;
int local_shape;
int best_local_shape;
int shape;
int best_shape;
Vector2 best_contact;
@ -395,6 +397,7 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B,
rd->best_normal = contact_rel / len;
rd->best_object = rd->object;
rd->best_shape = rd->shape;
rd->best_local_shape = rd->local_shape;
}
bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
@ -428,6 +431,7 @@ bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_sh
rcd.valid_depth = 0;
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = 0;
bool sc = CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
if (!sc)
continue;
@ -700,6 +704,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
int excluded_shape_pair_count = 0;
float separation_margin = MIN(p_margin, MAX(0.0, p_motion.length() - CMP_EPSILON)); //don't separate by more than the intended motion
Transform2D body_transform = p_from;
{
@ -778,7 +784,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
bool did_collide = false;
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, NULL, p_margin)) {
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, NULL, separation_margin)) {
did_collide = cbk.amount > current_collisions;
}
@ -966,16 +972,10 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
bool collided = false;
if (safe >= 1) {
//not collided
collided = false;
if (r_result) {
r_result->motion = p_motion;
r_result->remainder = Vector2();
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
best_shape = -1; //no best shape with cast, reset to -1
}
} else {
{
//it collided, let's get the rest info in unsafe advance
Transform2D ugt = body_transform;
@ -986,8 +986,13 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.best_object = NULL;
rcd.best_shape = 0;
Transform2D body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
Shape2DSW *body_shape = p_body->get_shape(best_shape);
//optimization
int from_shape = best_shape != -1 ? best_shape : 0;
int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
for (int j = from_shape; j < to_shape; j++) {
Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
Shape2DSW *body_shape = p_body->get_shape(j);
body_aabb.position += p_motion * unsafe;
@ -1031,10 +1036,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = j;
bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
if (!sc)
continue;
}
}
if (rcd.best_len != 0) {
@ -1042,7 +1049,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
r_result->collider = rcd.best_object->get_self();
r_result->collider_id = rcd.best_object->get_instance_id();
r_result->collider_shape = rcd.best_shape;
r_result->collision_local_shape = best_shape;
r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
@ -1057,18 +1064,16 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
}
collided = true;
} else {
if (r_result) {
}
}
if (!collided && r_result) {
r_result->motion = p_motion;
r_result->remainder = Vector2();
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
}
collided = false;
}
}
return collided;
}